Control method of a self-moving device and related device

Abstract

The application relates to the field of device control, and provides a control method of a self-moving device and related equipment thereof. The self-moving device comprises a working mechanism, a working motor and a height adjusting motor. The working motor is used for driving the working mechanism to work, and the height adjusting motor is used for adjusting the height of the working mechanism. The method comprises the following steps: in each detection period, obtaining working environment information corresponding to the working mechanism; determining a reference power of the working motor based on the working environment information corresponding to the working mechanism; determining a power difference value according to an actual power of the working motor and the reference power; determining a motor control parameter according to the power difference value, and controlling the height adjusting motor according to the motor control parameter to adjust the height of the working mechanism. By using the above method, the height of the working mechanism of the self-moving device can be more accurately controlled, and the situation that the working efficiency of the self-moving device is poor due to the unsuitable height of the working mechanism can be avoided.

Description

Technical Field

[0001] This application relates to the field of equipment control, and more particularly to a control method for self-moving equipment and related equipment. Background Technology

[0002] Some self-moving equipment has a working mechanism and a height adjustment motor. The working mechanism is used to perform tasks such as collection and cleaning within the work area to realize the function of the self-moving equipment. The work area includes the surface on which the working mechanism operates. The height adjustment motor is used to adjust the height of the working mechanism. By adjusting the height of the working mechanism, the relative distance between the working mechanism and its corresponding work surface can be changed. When the working height of the working mechanism is appropriate and meets the conditions for its operation, the working mechanism can normally perform its corresponding task.

[0003] However, if the height of the working mechanism is inappropriate, it may prevent the working mechanism from performing its corresponding tasks properly, resulting in poor working efficiency of the self-moving equipment. Summary of the Invention

[0004] In view of the above, it is necessary to provide a control method, device, equipment, and storage medium for self-moving equipment, which can solve the technical problem of poor working efficiency of self-moving equipment caused by unsuitable working mechanism height.

[0005] The first aspect of this application provides a control method for a self-moving device, the self-moving device including a working mechanism, a working motor, and a height adjustment motor, the working motor being used to drive the working mechanism to work, and the height adjustment motor being used to adjust the height of the working mechanism, the method comprising: acquiring working environment information corresponding to the working mechanism in each detection cycle; determining a reference power of the working motor based on the working environment information corresponding to the working mechanism; detecting the actual power of the working motor, and determining a power difference based on the actual power and the reference power; determining motor control parameters based on the power difference, and controlling the height adjustment motor according to the motor control parameters to adjust the height of the working mechanism.

[0006] As can be seen from the above technical solutions, the embodiments of this application determine the reference power based on the current working environment of the working mechanism, obtain the power difference by subtracting the actual power from the reference power, and determine the motor control parameters of the height adjustment motor based on this difference, so that the motor control parameters can match the current working environment. By controlling the height adjustment motor according to the motor control parameters to adjust the height of the working mechanism, the height of the self-moving equipment can be controlled more accurately, avoiding excessive power consumption of the self-moving equipment due to an unsuitable working mechanism height, which would result in poor work efficiency and improve the accuracy of the height control of the working mechanism.

[0007] A second aspect of this application provides a device control apparatus, the device control apparatus comprising:

[0008] The environmental monitoring module is used to acquire the working environment information of the operating organization in each monitoring cycle;

[0009] The power calculation module is used to determine the reference power of the working motor based on the working environment information corresponding to the working mechanism;

[0010] The difference determination module is used to determine the power difference based on the actual power of the working motor and the reference power;

[0011] The height adjustment module is used to determine motor control parameters based on the power difference, and to control the height adjustment motor according to the motor control parameters, so as to adjust the height of the working mechanism.

[0012] A third aspect of this application provides a self-moving device, the self-moving device comprising:

[0013] Memory, which stores computer-readable instructions; and

[0014] The processor executes computer-readable instructions stored in the memory to implement the control method for the self-moving device.

[0015] A fourth aspect of this application provides a computer-readable storage medium storing computer-readable instructions that are executed by a processor in an electronic device to implement the control method for the self-moving device. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application.

[0017] Figure 2 This is a flowchart of a control method for a self-moving device provided in an embodiment of this application.

[0018] Figure 3 This is a detailed flowchart of determining the reference power of the working motor according to an embodiment of this application.

[0019] Figure 4 This is a detailed flowchart provided in one embodiment of the present application, which describes how to determine motor control parameters based on power differences and control the height adjustment motor according to the motor control parameters.

[0020] Figure 5 This is a detailed flowchart of controlling a height adjustment motor according to motor control parameters provided in one embodiment of this application.

[0021] Figure 6 This is a schematic diagram of the structure of a device control apparatus provided in an embodiment of this application.

[0022] Figure 7 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application. Detailed Implementation

[0023] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, words such as "exemplary," "or," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary," "or," and "for example" is intended to present the relevant concepts in a concrete manner.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It should be understood that, unless otherwise stated, " / " in this application means "or". For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. "At least one" means one or more. "More than one" means two or more. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, and a, b, and c. It should be understood that the order of steps shown in the flowcharts herein can be changed, and some can be omitted.

[0025] Some self-moving equipment has a working mechanism and a height adjustment motor. The working mechanism is used to perform tasks such as collection and cleaning within the work area to realize the functionality of the self-moving equipment. The work area includes the surface on which the working mechanism operates. The height adjustment motor is used to adjust the height of the working mechanism. By adjusting the height of the working mechanism, the relative distance between the working mechanism and its corresponding work surface can be changed. When the working height of the working mechanism is appropriate and meets the conditions for its operation, the working mechanism can perform its corresponding task normally. Currently, the height adjustment motor is usually controlled according to a given target height to adjust the height of the working mechanism; after adjusting the height of the working mechanism, it operates based on the adjusted height, and it is impossible to adjust the height according to the actual working conditions. Therefore, it is easy for the working mechanism to be over-powered due to an unsuitable height.

[0026] To avoid poor working efficiency of self-moving equipment due to unsuitable operating mechanism height, this application provides a control method for self-moving equipment to accurately adjust the operating height of the self-moving equipment, thereby reducing power consumption and improving the working efficiency of the self-moving equipment.

[0027] The control method for self-moving devices provided in this application can be applied to self-moving devices. For example, the self-moving device can be a smart lawnmower, automatic irrigation equipment, automatic snow removal equipment, electric collector, cleaning robot, or other devices that can complete tasks through self-movement. The control method for self-moving devices provided in this application can also be applied to electronic devices that control self-moving devices. For example, the electronic devices in this application can be mobile phones, tablets, desktop computers, laptops, handheld computers, or other electronic devices. This application does not impose any special limitations on the specific form of the electronic device. The electronic device can control the height of the working mechanism of the self-moving device using the control method. The following description uses the application of the control method for self-moving devices to a scenario involving self-moving devices as an example.

[0028] To better understand the control method for the self-moving device provided in the embodiments of this application, the implementation methods of the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0029] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application. For example... Figure 1As shown, the self-moving device 10 includes a working mechanism 110, a working motor 120, and a height adjustment module 130. The working mechanism 110 is used to perform one or more tasks such as collecting, cleaning, and weeding to realize the functions of the self-moving device 10. For example, the working mechanism 110 can be used to collect dust, collect fallen leaves, collect grass clippings, sweep the ground, and mop the floor. The working motor 120 is used to drive the working mechanism 110 to perform the tasks. The working mechanism 110 is connected to the self-moving device 10 through the height adjustment module 130, which includes a height adjustment motor and a push rod device connected to the working mechanism 110. The height adjustment motor is used to control the movement of the push rod device. In the embodiments of this application, the height of the working mechanism 110 can be adjusted by controlling the movement of the push rod device through the height adjustment motor, thereby changing the relative distance between the working mechanism 110 and its corresponding working surface. For example, taking the self-moving device 10 as a lawnmower and the working mechanism 110 as a leaf collection device on the lawnmower, the leaf collection device is connected to the lawnmower through the lawnmower's height adjustment module. Specifically, the leaf collection device is connected to the lawnmower through a push rod device in the height adjustment module. Since the height of the grass vegetation varies when operating outdoors, the height of the fallen leaves also changes accordingly. In order to collect leaves at different heights, a height adjustment motor needs to be installed on the push rod device to control its movement, thereby raising and lowering the leaf collection device. It is understandable that since the range of movement of the push rod device is limited, the height of the working mechanism 110 also has a range. When the push rod device is in its maximum adjustment position, the height of the working mechanism 110 is the maximum adjustable height; when the push rod device is in its minimum adjustment position, the height of the working mechanism 110 is the minimum adjustable height.

[0030] Figure 1 This is merely an example of the self-moving device 10 and does not constitute a limitation. In other embodiments, the self-moving device 10 may include more or fewer components than illustrated, or combine certain components, or replace different components.

[0031] Figure 2 This is a flowchart of a control method for a self-moving device provided in an embodiment of this application. Figure 2 The method shown is applied to self-moving devices, such as Figure 1 The self-moving device 10 is shown. Depending on different needs, the order of steps in this flowchart can be changed, and some steps can be omitted.

[0032] Step 210: In each detection cycle, obtain the working environment information corresponding to the operating mechanism.

[0033] In one embodiment, after the self-moving device begins executing a task, it needs to determine whether to enter an adjustment mode to adjust the height of the working mechanism. During each detection cycle, the self-moving device acquires working environment information corresponding to the current task to determine whether to adjust the height of the working mechanism. For example, the detection cycle can be set to 5 minutes, meaning a height adjustment judgment is performed every 5 minutes. The detection cycle can be set according to user needs and is not limited here. Since the lifespan of the height adjustment motor is negatively correlated with its starting frequency, the height adjustment motor can be started to adjust the height of the working mechanism only after it is determined that an adjustment mode is needed, thereby reducing wear on the height adjustment motor and extending its service life. The working environment information characterizes the current working environment of the self-moving device. This information may include one or more of the following: ground type information, ground slope information, and road surface moisture information. Ground type information indicates the type of ground, such as lawn, asphalt, cement, rubber, terrazzo, and tile. Ground slope information indicates the slope of the ground. Road surface moisture information indicates the humidity of the working surface currently corresponding to the self-moving device.

[0034] The coefficient of friction corresponding to the working environment of the self-moving device can be determined based on the working environment. This allows us to determine the rated power of the self-moving device's motor in that environment. Different working environments require different rated power. For example, the motor power required for surfaces with high friction is greater than that required for surfaces with low friction; the motor power required for working environments with steep slopes is greater than that required for working environments with gentle slopes; and the motor power required for working environments with high surface humidity is greater than that required for working environments with low surface humidity. These are merely illustrative examples and do not constitute any limitation.

[0035] Self-moving devices can be equipped with a camera module (e.g., a built-in camera) to acquire information about the working environment of the work site. Alternatively, they can communicate with nearby camera devices to obtain this information. Image recognition can be performed on photos taken by the camera module or device to obtain the working environment information. Self-moving devices can also be equipped with a GNSS (Global Navigation Satellite System) positioning module to obtain the current location. For example, image recognition of photos can determine the ground type; image recognition combined with GNSS positioning can determine the current work location; and based on the work location, the corresponding ground slope and surface moisture information can be determined. For example, image recognition of photos can determine the work location of the self-moving device as location A. Slope and air humidity information for location A can be obtained, for example, by connecting to an external server (e.g., a cloud server that records weather data) to obtain air humidity and weather forecast information, and by connecting to a server or database that records ground information to obtain the corresponding slope information for location A. However, practical applications are not limited to this method. Based on the slope and weather information of location A, determine the corresponding ground slope and road surface moisture information for the operating organization. A conversion relationship between air humidity and road surface moisture information can be pre-set, allowing the determination of road surface moisture information based on air humidity data.

[0036] Step 220: Determine the reference power of the working motor based on the working environment information corresponding to the working mechanism.

[0037] In one embodiment of this application, the rated power of the working motor when the working mechanism is operating normally under the corresponding working environment is used as the reference power. If the actual power of the working motor is greater than or less than the reference power, it indicates that the working motor may be in an abnormal state.

[0038] The mapping relationship between working environment information and reference power can be preset. One piece of working environment information can be mapped to one reference power. Based on the preset mapping relationship, the reference power of the working motor corresponding to the working environment information is determined. The reference power can also be expressed as a power range with a certain fluctuation.

[0039] For the method of determining the reference power of the working motor, please refer to the following section. Figure 3 A detailed description of the process shown.

[0040] Step 230: Detect the actual power of the operating motor.

[0041] In one embodiment of this application, the actual power is the power of the working motor when performing the current task. The self-moving device may be equipped with a detection module for detecting the power of the working motor. In this embodiment, the self-moving device can obtain the actual power of the working motor by sampling the current and voltage of the working motor during a detection period.

[0042] Step 240: Determine the power difference based on the actual power and reference power of the working motor.

[0043] In one embodiment of this application, the power difference is the difference between the actual power of the working motor and the reference power. This difference can be used to determine the motor control parameters for controlling the height adjustment motor, thereby adjusting the height of the working mechanism. The power difference can be the difference between the actual power and the reference power of the working motor, or it can be the difference between the reference power and the actual power of the working motor. The power difference can be positive or negative. Positive and negative values ​​are used to determine the height adjustment direction of the working mechanism. The height adjustment direction of the working mechanism corresponding to positive and negative values ​​can be determined according to the calculation method of the power difference.

[0044] For example, when the power difference is the difference between the actual power of the working motor and the reference power, a positive power difference indicates that the working mechanism is close to the working surface and needs to be raised, with the corresponding height adjustment direction being upward; a negative power difference indicates that the working mechanism is far from the working surface and needs to be lowered, with the corresponding height adjustment direction being downward. Similarly, when the power difference is the difference between the reference power and the actual power of the working motor, a negative power difference indicates that the working mechanism is close to the working surface and needs to be raised, with the corresponding height adjustment direction being upward; a positive power difference indicates that the working mechanism is far from the working surface and needs to be lowered, with the corresponding height adjustment direction being downward. The absolute value of the power difference is used to determine whether to enter the adjustment mode. Generally, a 10% to 50% hysteresis is maintained; that is, the adjustment mode is only entered when the power difference is greater than a preset threshold. This avoids frequent activation of the height adjustment motor and prevents misjudgments.

[0045] Step 250: Determine the motor control parameters based on the power difference, and control the height adjustment motor according to the motor control parameters to adjust the height of the working mechanism.

[0046] In one embodiment of this application, motor control parameters are used to control the height adjustment motor of the self-moving device, thereby adjusting the height of the working mechanism. The motor control parameters may include one or more of voltage control quantities, current control quantities, and power control quantities.

[0047] Once it is determined that the height adjustment motor needs to be entered into adjustment mode, the power difference at this time is used as the input quantity and input to the PID (Proportional-Integral-Derivative) controller for feedforward and feedback control, thereby outputting the corresponding motor control parameters.

[0048] In one embodiment, a mapping relationship between power differences and motor control parameters can be preset. Each power difference can map to at least one motor control parameter. Based on the preset mapping relationship, the motor control parameter corresponding to the power difference is determined.

[0049] A smaller power difference indicates that the power of the working motor is within the normal range, meaning the height of the working mechanism is appropriate. To reduce the number of times the working mechanism height needs to be adjusted when it is already at a suitable height, in some embodiments of this application, a difference range can be preset. If the calculated power difference is not within the preset range, the motor control parameters are determined based on the power difference. The difference range consists of two fixed endpoints and can be set according to actual conditions. For example, it can be set based on the rated power range of the height adjustment motor and the working motor, such as 50% of the rated power. For instance, if the rated maximum power is 50W, the power difference threshold can be 25W. The absolute values ​​of the two fixed endpoints can be the same or different. For example, the difference range can be set to [-20, 20] or [-15, 20]. If the calculated power difference is within the set difference range, the working motor is considered to be working normally, and no adjustment to the working mechanism height is needed. If the calculated power difference is not within the set difference range, the working motor is considered to be malfunctioning, and the working mechanism height needs to be adjusted.

[0050] The above embodiments, by pre-setting a power difference range and adjusting the height of the working mechanism when the calculated power difference is not within the preset range, can reduce the occurrence of height adjustments when the power difference is small. This reduces the number of times the working mechanism height needs to be adjusted when it is already at a suitable level, thus reducing the number of times the height adjustment motor needs to be started, lowering motor wear, and improving the accuracy of the self-moving device's control. By determining the power difference based on the actual operating conditions of the self-moving device's working mechanism, and when it is determined that adjustment mode is needed to adjust the height of the working mechanism, the corresponding motor adjustment parameters are obtained based on the power difference. This allows for control of the height adjustment motor according to the actual operating conditions, improving the accuracy of height adjustment.

[0051] In one embodiment of this application, a mapping relationship between motor control parameters and a target adjustment height can be preset. The target adjustment height is the height adjustment value of the working mechanism. The target adjustment height can be positive or negative; a positive value indicates raising the height of the working mechanism, and a negative value indicates lowering the height of the working mechanism. One motor control parameter maps to one target adjustment height. Based on the preset mapping relationship, the target adjustment height corresponding to the motor control parameter is determined. The height adjustment motor is controlled according to the target adjustment height to adjust the height of the working mechanism.

[0052] For other specific implementation methods of controlling the height adjustment motor based on motor control parameters, please refer to the following section. Figure 5 The description.

[0053] The method provided in the above embodiments determines a reference power based on the current working environment of the working mechanism, calculates the difference between the actual power and the reference power to obtain the power difference, and determines the motor control parameters of the height adjustment motor based on this difference, so that the motor control parameters can match the current working environment. Controlling the height adjustment motor according to these motor control parameters to adjust the height of the working mechanism allows for more precise control of the height of the self-moving equipment's working mechanism, avoiding excessive power consumption due to an unsuitable working mechanism height, which would lead to poor work efficiency and improve the accuracy of height control. Simultaneously, timely adjustment of the working mechanism's height according to each detection cycle can prevent errors caused by mechanical structure and other processing factors from resulting in the adjusted height being lower than the preset target height. This also prevents the working mechanism from operating under excessive power due to a close distance between it and the work surface, thus avoiding wear and tear and extending the service life of the self-moving equipment.

[0054] It is understandable that the height adjustment motor, controlling the movement of the push rod device in the self-moving device to adjust the height of the working mechanism, is affected by the gravity of the push rod device. For example, when the height adjustment direction of the working mechanism is upward, the actual lifting distance will be less than the target lifting distance because the gravity of the push rod device and the pushing force exerted by the height adjustment motor on the push rod device are two forces in opposite directions; conversely, when the height adjustment direction of the working mechanism is downward, the actual lifting distance will be less than the target lifting distance because the gravity of the push rod device and the pushing force exerted by the height adjustment motor on the push rod device are two forces in the same direction.

[0055] To avoid the influence of gravity on the height of the adjusting mechanism, in one embodiment of this application... Figure 2 Step 260, controlling the height adjustment motor according to the motor control parameters to adjust the height of the working mechanism, includes:

[0056] The height adjustment motor is controlled based on motor control parameters and preset gravity parameters to adjust the height of the working mechanism. The preset gravity parameters are the control parameters of the height adjustment motor required to overcome the gravity acting on the push rod device, and can be determined based on the gravity acting on the push rod device.

[0057] For example, when the height adjustment direction is upward, the motor control parameters are added to the preset gravity parameters to obtain the target control parameters corresponding to the height adjustment motor, and the height adjustment motor is controlled based on the target control parameters; when the height adjustment direction is downward, the motor control parameters are subtracted from the preset gravity parameters to obtain the target control parameters corresponding to the height adjustment motor, and the height adjustment motor is controlled based on the target control parameters.

[0058] Figure 3 This is a detailed flowchart provided in one embodiment of the present application, which determines the reference power of the working motor based on the working environment information corresponding to the working mechanism, and is applied to self-moving equipment. Depending on different requirements, the order of the steps in this flowchart can be changed, and some steps can be omitted.

[0059] Step 310: Determine the target friction coefficient based on the ground type information in the working environment information.

[0060] In this embodiment, the target friction coefficient is the friction coefficient corresponding to the ground type of the current working surface of the operating mechanism. It can be understood that, taking a lawnmower as an example, different working environments will correspond to different ground types during actual lawnmower operation, such as grass, soil, and concrete surfaces, thus enabling operations such as mowing or collecting fallen leaves and grass clippings.

[0061] The mapping relationship between different ground types and friction coefficients can be pre-set. For example, the friction coefficients corresponding to different ground types can be stored in the self-moving equipment. When the self-moving equipment is operating, it can collect ground images in real time through devices such as cameras and infrared detectors installed on it. After extracting image features, these images are compared with the pre-stored ground type features to obtain the current ground type information. Based on the mapping relationship between ground type information and friction coefficients, the target friction coefficient corresponding to the ground type information can be determined.

[0062] Step 320: Determine the reference power of the working motor based on the target friction coefficient and the correspondence between friction coefficient and power.

[0063] The friction coefficient includes the friction coefficient corresponding to the current ground type, and the power includes the power of the operating motor. The table showing the correspondence between friction coefficients and power records the relationship between the friction coefficient of each ground type and the power of the operating motor. Generally, one friction coefficient corresponds to one power. Based on the correspondence between friction coefficients and power, the power corresponding to the target friction coefficient can be determined, i.e., the reference power of the operating motor.

[0064] The above embodiment determines the reference power of the working motor of the working mechanism when it is working normally under the ground type based on the friction coefficient of the ground type corresponding to the working mechanism. By combining the actual ground type when the current self-moving equipment is working, the accuracy of the reference power is improved.

[0065] Figure 4 This is a detailed flowchart provided in one embodiment of the present application, illustrating the determination of motor control parameters based on power differences and the control of a height-adjusting motor according to these parameters, applicable to self-moving equipment. The order of steps in this flowchart can be changed, and some steps can be omitted, depending on different requirements.

[0066] Step 410: Calculate the power difference to obtain the voltage control quantity.

[0067] In some embodiments of this application, the obtained power difference is input into a PID controller to obtain a reference voltage; the feedforward voltage corresponding to the power difference is obtained by looking up a table; and the voltage control quantity corresponding to the power difference is determined based on the reference voltage and the feedforward voltage. In one embodiment, the sum of the reference voltage and the feedforward voltage can be determined as the voltage control quantity corresponding to the power difference.

[0068] For example, a power-voltage mapping table can be pre-set, recording the mapping relationship between power and voltage. When an automated device performs feedforward control based on the power difference, it can determine the feedforward voltage corresponding to the power difference by consulting the power-voltage mapping table. After inputting the power difference into the PID controller for feedback adjustment, the resulting feedback voltage becomes the reference voltage.

[0069] Step 420: The voltage control signal is sent to the height adjustment motor so that the height adjustment motor adjusts the height of the working mechanism according to the voltage control signal.

[0070] After receiving the voltage control signal from the self-moving device, the height adjustment motor adjusts the height of the working mechanism according to the voltage control signal. In some embodiments of this application, a mapping relationship between the voltage control signal and the target adjustment height can be preset. After the obtained voltage control signal is input into the PID controller and integrated over time, the corresponding target adjustment height is output. The height adjustment motor is then controlled according to the target adjustment height to adjust the height of the working mechanism.

[0071] In the above embodiment, the voltage control amount of the height adjustment motor is determined based on the power difference, and then the height of the working mechanism is adjusted according to the voltage control amount. This allows the height of the working mechanism to be adjusted according to the actual working conditions during operation, enabling more precise adjustment of the height of the working mechanism and reducing the power consumption of the working motor during operation.

[0072] In one embodiment of this application, Figure 2 Step 250, determining the motor control parameters based on the power difference, further includes: when the power difference is greater than a preset value and the height of the working mechanism is within a preset range, determining the motor control parameters based on the power difference.

[0073] The preset value is used to determine whether the height of the working mechanism needs to be adjusted. When the absolute value of the power difference is greater than the preset value, it indicates that the working motor is malfunctioning and the current height of the working mechanism differs significantly from the ideal height, requiring adjustment of the working mechanism by controlling the height adjustment motor. When the absolute value of the power difference is less than or equal to the preset value, it indicates that the working motor is functioning normally, and adjustment of the working mechanism by the height adjustment motor is not required. The preset value can be set according to actual conditions.

[0074] The preset range can be the range within which the working mechanism can be height adjusted, including the maximum height value and the minimum height value. When the adjusted height of the working mechanism is within the preset range, the adjusted height value does not exceed the height adjustment range of the working mechanism, indicating that the height adjustment of the working mechanism can be performed. When the adjusted height of the working mechanism is not within the preset range, the adjusted height value exceeds the height adjustment range of the working mechanism, indicating that the height adjustment of the working mechanism cannot be performed. In one embodiment of this application, the preset range can be determined based on the movement range of the push rod device in the self-moving device. For example, the maximum height value and minimum height value of the working mechanism are determined based on the movement range of the push rod device in the self-moving device, thereby obtaining the preset range. For some descriptions of the push rod device, please refer to the description of the push rod device. Figure 1 The relevant descriptions will not be repeated here.

[0075] In the above embodiments, the situation where the working mechanism cannot be adjusted can be avoided by controlling the working motor to make adjustments, thereby improving the accuracy and safety of the height adjustment of the working mechanism.

[0076] To prevent the height adjustment motor from continuing to raise the height of the working mechanism when it cannot be raised, and conversely, to prevent the height adjustment motor from continuing to lower the height of the working mechanism when it cannot be lowered, a comparison between the height of the working mechanism and the preset height can be added.

[0077] In one embodiment of this application, Figure 2Step 250, determining the motor control parameters based on the power difference, further includes: when the power difference is greater than a first threshold and the height of the working mechanism is less than a first height, determining the motor control parameters based on the power difference; or, when the power difference is less than a second threshold and the height of the working mechanism is greater than a second height, determining the motor control parameters based on the power difference.

[0078] The first threshold is negative, and the second threshold is positive. When the calculated power difference is less than the first threshold, it indicates the working motor is malfunctioning, the working mechanism is too far from the working surface, and the height of the working mechanism needs to be reduced. When the calculated power difference is greater than the second threshold, it indicates the working motor is malfunctioning, the working mechanism is too close to the working surface, and the height of the working mechanism needs to be increased. When the calculated power difference is greater than or equal to the first threshold and equal to or less than the second threshold, it indicates the working motor is functioning normally, the distance between the working mechanism and the working surface is appropriate, and the height of the working mechanism does not need to be increased.

[0079] The first and second thresholds can be set according to actual conditions. In some embodiments of this application, the two fixed endpoints of the difference interval can be set as the first and second thresholds, respectively. For a related explanation of the difference interval, please refer to the relevant description above.

[0080] The first height is the highest adjustable height of the working mechanism, and the second height is the lowest adjustable height of the working mechanism. The first height is greater than the second height. The values ​​of the first and second heights can be selected and set according to actual conditions, and no restrictions are imposed here.

[0081] Figure 5 This is a detailed flowchart illustrating the control of a height-adjusting motor based on motor control parameters, provided in one embodiment of this application, and applied to self-moving equipment. The order of steps in this flowchart can be changed, and some steps can be omitted, depending on different requirements.

[0082] Step 510: Determine the height adjustment direction based on the power difference.

[0083] In this embodiment, the power difference can be obtained by subtracting the actual power from the reference power of the working motor. It can be understood that when the power difference is negative, it indicates that the power of the working mechanism is too high, requiring the height adjustment motor to be controlled to raise the working mechanism; conversely, when the power difference is negative, it indicates that the working mechanism has not yet reached the appropriate power, requiring the height adjustment motor to be controlled to lower the working mechanism.

[0084] For some specific implementation details of step 510, please refer to the above description. Figure 2 The relevant description of step 240.

[0085] Step 520: Determine the target adjustment height based on the motor control parameters.

[0086] For some specific implementation details of step 520, please refer to the above description. Figure 2 Step 260, and the above... Figure 4 The relevant description of step 420.

[0087] Step 530: Obtain the current height of the operating mechanism.

[0088] In some embodiments of this application, a measurement module may be provided in the self-moving device. The measurement module is used to measure the current height of the working mechanism. The measurement module may include a distance sensor, such as an infrared sensor or an ultrasonic sensor, to measure the relative distance between the working mechanism and the working surface, thereby obtaining the current height of the working mechanism.

[0089] Step 540: Determine the adjusted height of the working mechanism based on its current height, height adjustment direction, and target adjustment height.

[0090] If the height adjustment direction is upward, that is, to increase the height of the working mechanism, the self-moving device will add the target adjustment height to the current height of the working mechanism to obtain the adjusted height of the working mechanism.

[0091] If the height adjustment direction is downward, that is, to lower the height of the working mechanism, the self-moving device will subtract the target adjustment height from the current height of the working mechanism to obtain the adjusted height of the working mechanism.

[0092] Step 550: If the height of the working mechanism after adjustment is within the preset range, then control the height adjustment motor according to the motor control parameters to adjust the height of the working mechanism.

[0093] The preset range refers to the height adjustment range of the working mechanism, including the maximum and minimum height values. For a more detailed description of the preset range, please refer to the relevant description above.

[0094] The above embodiments can reduce the occurrence of adjusting the height of the working mechanism according to unsuitable target heights, and avoid situations where the working mechanism gets stuck or damaged due to adjustment to the extreme height, thereby improving the accuracy and safety of the working mechanism height adjustment.

[0095] If the height of the working mechanism is not within the preset range after adjustment, it indicates that the current power of the working motor may be too high or too low. If the power of the working motor cannot be adjusted by adjusting the height of the working mechanism, to avoid excessive power consumption or even motor damage due to overheating of the working motor, or a malfunction or abnormality due to insufficient power, the working mechanism should be stopped immediately. Therefore, in some embodiments of this application, if the height of the working mechanism is not within the preset range after adjustment, the working mechanism is controlled to stop operating.

[0096] To promptly notify the target user, in some embodiments of this application, if the height adjusted by the operating mechanism is outside the preset range, an error message will be sent to a preset target terminal to inform the target user of the current abnormality of the self-moving device. The error message may include the time when the operating mechanism stopped operating, and may also include the reason for the abnormality of the self-moving device. In another embodiment of this application, if the height adjusted by the operating mechanism is outside the preset range, the self-moving device will trigger an audible alarm or a flashing light alarm to notify the target user of the current abnormality of the self-moving device.

[0097] Figure 6 This is a schematic diagram of the structure of a device control apparatus provided in one embodiment of this application. In some embodiments, the device control apparatus 60 may include multiple functional modules composed of computer program segments. The computer programs of each program segment in the device control apparatus 60 may be stored in the memory of the self-moving device and executed by at least one processor to perform the self-moving device control methods in the various embodiments described above.

[0098] In this embodiment, the device control device 60 can be divided into multiple functional modules according to the functions it performs. These multiple functional modules may include: an environment detection module 610, an instruction generation module 620, a difference determination module 630, and a height adjustment module 640. The term "module" in this application refers to a series of computer program segments that can be executed by at least one processor and perform a fixed function, and which are stored in memory. In the embodiments of this application, the limitations of the device control device 60 can be found in the above-described limitations of the control method for self-moving equipment, and will not be repeated in detail here.

[0099] The environmental monitoring module 610 is used to acquire the working environment information of the operating mechanism in each monitoring cycle;

[0100] The power calculation module 620 is used to determine the reference power of the working motor based on the working environment information corresponding to the working mechanism.

[0101] The difference determination module 630 is used to detect the actual power of the working motor and determine the power difference based on the actual power of the working motor and the reference power.

[0102] The height adjustment module 640 is used to determine the motor control parameters based on the power difference, and to control the height adjustment motor according to the motor control parameters in order to adjust the height of the working mechanism.

[0103] It is understood that the module division described above is a logical functional division, and there may be other division methods in actual implementation. Furthermore, the functional modules in the various embodiments of this application can be integrated into the same processing unit, or each module can exist physically separately, or two or more modules can be integrated into the same unit. The integrated modules described above can be implemented in hardware or in a combination of hardware and software functional modules.

[0104] In this embodiment, some specific implementation methods for the functions of each module / unit can be found in the descriptions of the control methods for the self-moving devices in the various embodiments described above, and will not be repeated here.

[0105] As can be seen from the above technical solution, the equipment control device can determine the reference power of the working motor of the working mechanism under the current working environment by using the working environment information corresponding to the working mechanism; and determine the power difference of the working motor based on the reference power and the current actual power. This power difference ensures that the motor control parameters determined based on the power difference match the current working environment, improving the accuracy of determining the motor control parameters. Finally, the height adjustment motor is controlled using the motor control parameters determined based on the power difference to adjust the height of the working mechanism. This allows for more precise control of the height of the self-moving equipment's working mechanism, improving the accuracy of height control. Moreover, after entering the adjustment mode, only one control operation of the height adjustment motor is required. This system eliminates the need for frequent control of the height adjustment motor, reducing its start-up frequency and thus minimizing wear and tear. Furthermore, by adjusting the height of the working mechanism promptly each detection cycle when a power difference exceeds a preset threshold, it prevents errors in mechanical structure and processing from causing the adjusted height to fall below the target height. This also avoids situations where the working mechanism operates at excessive power due to close proximity to the work surface, leading to wear and tear, excessive power consumption, and reduced battery life. Additionally, it prevents overheating and damage to electronic components and motors caused by prolonged high-power operation, and even motor stalling that could malfunction the device, thus extending its lifespan.

[0106] Please see Figure 7 , Figure 7This is a schematic block diagram of the structure of a self-moving device provided in an embodiment of this application.

[0107] The networks where the mobile device 70 is located include, but are not limited to, the Internet, wide area network, metropolitan area network, local area network, and virtual private network (VPN).

[0108] like Figure 7 As shown, the self-moving device 70 includes a communication interface 701, a memory 702, a processor 703, an input / output (I / O) interface 704, and a bus 705. The processor 703 is coupled to the communication interface 701, the memory 702, and the I / O interface 704 via the bus 705.

[0109] Communication interface 701 is used for communication. Communication interface 701 can be an existing interface on the self-moving device 70, or it can be a newly created interface on the self-moving device 70. Communication interface 701 can be a network interface, such as a Wireless Local Area Network (WLAN) interface, a cellular network communication interface, or a combination thereof.

[0110] The memory 702 can be used to store operating systems and computer programs. For example, the memory 702 stores the program corresponding to the control method for the self-moving device described above.

[0111] It should be understood that the memory 702 may include a program storage area and a data storage area. The program storage area may be used to store the operating system, application programs required by at least one method (such as control methods for self-moving devices), etc.; the data storage area may store data created based on the use of the electronic device 30, etc. Furthermore, the memory 702 may include volatile memory, and may also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD), flash cards, at least one disk storage device, flash memory device, or other storage devices.

[0112] Processor 703 provides computing and control capabilities to support the operation of the entire computer device. For example, processor 703 is used to execute computer programs stored in memory 702 to implement the steps in the aforementioned control method for the self-moving device, for example... Figures 2 to 5 The steps in the process.

[0113] It should be understood that processor 703 is a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, the general-purpose processor can be a microprocessor or any conventional processor.

[0114] I / O interface 704 is used to provide a channel for user input or output. For example, I / O interface 704 can be used to connect various input and output devices (mouse, keyboard or 3D touch device, etc.) and displays, so that users can enter information or visualize information.

[0115] Bus 705 is used at least to provide a channel for communication between communication interface 701, memory 702, processor 703 and I / O interface 704 in the self-moving device 70.

[0116] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0117] In one embodiment, the control method for the self-moving device is applied to the self-moving device 70. When the processor 703 executes the computer program stored in the memory 702 to implement the control method for the self-moving device, the following steps are performed:

[0118] In each testing cycle, obtain the working environment information corresponding to the operating mechanism;

[0119] Based on the working environment information corresponding to the working mechanism, determine the reference power of the working motor;

[0120] The actual power of the working motor is detected, and the power difference is determined based on the actual power of the working motor and the reference power.

[0121] The motor control parameters are determined based on the power difference, and the height adjustment motor is controlled according to the motor control parameters to adjust the height of the working mechanism.

[0122] Specifically, the processor 703's specific implementation method for the above instructions can be found in the description of the relevant steps in the aforementioned control method embodiment for the self-moving device, and will not be repeated here.

[0123] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to various embodiments of the control method for the self-moving device of this application.

[0124] The computer-readable storage medium can be an internal storage unit of the electronic device described in the foregoing embodiments, such as a hard disk or memory of the electronic device. Alternatively, the computer-readable storage medium can be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device.

[0125] Furthermore, the computer-readable storage medium may primarily include a program storage area and a data storage area, wherein the program storage area may store the operating system, at least one application program required for a function, etc.; and the data storage area may store data created based on the use of the electronic device, etc.

[0126] The electronic device and computer-readable storage medium provided in the foregoing embodiments can determine the reference power of the working motor controlling the working mechanism under the current working environment by using the working environment information corresponding to the working mechanism; and determine the power difference of the working motor based on the reference power and the current actual power, so that the motor control parameters determined based on the power difference match the current working environment, thereby improving the accuracy of determining the motor control parameters; finally, the height adjustment motor is controlled using the motor control parameters determined based on the power difference to adjust the height of the working mechanism, which can more accurately control the height of the self-moving device's working mechanism and improve the accuracy of controlling the height of the working mechanism; moreover, after determining that the adjustment mode has been entered, only the height adjustment motor needs to be adjusted. One-time control eliminates the need for multiple starts of the height adjustment motor, reducing its frequency and wear. Furthermore, by adjusting the height of the working mechanism promptly when a power difference exceeds a preset threshold during each detection cycle, errors in mechanical structure and processing can prevent the adjusted height from falling below the target height. This avoids situations where the working mechanism operates under excessive power due to close proximity to the work surface, leading to wear and tear, excessive power consumption, and reduced battery life. It also prevents overheating and damage to electronic components and motors caused by prolonged high-power operation, or even motor stalling that malfunctions the device, thus extending its lifespan.

[0127] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0128] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0129] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a self-moving device, characterized in that, The self-moving device includes a working mechanism, a working motor, and a height-adjusting motor. The working motor drives the working mechanism to operate, and the height-adjusting motor adjusts the height of the working mechanism. The method includes: In each detection cycle, the working environment information corresponding to the operating mechanism is acquired, including ground type information; Based on the working environment information corresponding to the working mechanism, the reference power of the working motor is determined, including: determining the target friction coefficient according to the ground type information; and determining the reference power of the working motor according to the target friction coefficient and the correspondence between the friction coefficient and power. The actual power of the operating motor is detected, and the power difference is determined based on the actual power and the reference power. The motor control parameters are determined based on the power difference, and the height adjustment motor is controlled according to the motor control parameters to adjust the height of the working mechanism.

2. The method as described in claim 1, characterized in that, The motor control parameters include voltage control values. The process of determining the motor control parameters based on the power difference and controlling the height-adjusting motor according to the motor control parameters to adjust the height of the working mechanism includes: The voltage control quantity is obtained by calculating the power difference. The voltage control signal is sent to the height adjustment motor so that the height adjustment motor adjusts the height of the working mechanism according to the voltage control signal.

3. The method as described in claim 2, characterized in that, The calculation of the power difference to obtain the voltage control quantity includes: The reference voltage corresponding to the power difference is determined by querying a preset power-voltage mapping table. Feedback control is applied to the power difference to obtain the feedback voltage; The voltage control quantity corresponding to the power difference is determined based on the reference voltage and the feedback voltage.

4. The method as described in claim 1, characterized in that, Determining the motor control parameters based on the power difference includes: When the power difference is greater than a preset value and the height of the working mechanism is within a preset range, the motor control parameters are determined based on the power difference.

5. The method according to any one of claims 1-4, characterized in that, The step of controlling the height adjustment motor according to the motor control parameters to adjust the height of the working mechanism includes: The height adjustment direction is determined based on the power difference. Determine the target adjustment height based on the motor control parameters; Obtain the current height of the operating mechanism; The adjusted height of the working mechanism is determined based on the current height of the working mechanism, the height adjustment direction, and the target adjustment height. If the height of the working mechanism after adjustment is within the preset range, the height adjustment motor is controlled according to the motor control parameters to adjust the height of the working mechanism.

6. The method as described in claim 5, characterized in that, The method further includes: If the height of the working mechanism after adjustment is not within the preset range, the working mechanism is controlled to stop working.

7. A device control apparatus, characterized in that, The equipment control device includes: The environmental monitoring module is used to acquire the working environment information corresponding to the operating organization in each monitoring cycle. The working environment information includes ground type information. The power calculation module is used to determine the reference power of the working motor based on the working environment information corresponding to the working mechanism, including: determining the target friction coefficient according to the ground type information; and determining the reference power of the working motor according to the target friction coefficient and the correspondence between the friction coefficient and power. The difference determination module is used to detect the actual power of the working motor and determine the power difference based on the actual power and the reference power. The height adjustment module is used to determine motor control parameters based on the power difference, and to control the height adjustment motor according to the motor control parameters, so as to adjust the height of the working mechanism.

8. A self-moving device, characterized in that, The self-moving device includes: Memory, which stores computer-readable instructions; and The processor executes computer-readable instructions stored in the memory to implement the control method for the self-moving device as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, which are executed by a processor in the self-moving device to implement the control method of the self-moving device as described in any one of claims 1 to 6.

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